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    <h1>一、为什么RA6T2是数字电源与伺服的理想MCU</h1>
    <div align="right">
        <h2>---瑞萨RA6T2"数字电源"与"伺服驱动"实战指南</h2>
    </div>
</div>

<div class="md-toc">
<div class="md-toc-link-wrapper" style="padding:0;;display:list-item;list-style:square;margin-left:18px">
          <a href="#一-概述目的" class="md-toc-link">
            <p>一、概述/目的</p>

          </a></div><div class="md-toc-link-wrapper" style="padding:0;;display:list-item;list-style:square;margin-left:18px">
          <a href="#二-资料来源" class="md-toc-link">
            <p>二、资料来源</p>

          </a></div><div class="md-toc-link-wrapper" style="padding:0;;display:list-item;list-style:square;margin-left:18px">
          <a href="#三-数字电源与伺服需要mcu哪些特性" class="md-toc-link">
            <p>三、数字电源与伺服需要mcu哪些特性</p>

          </a></div><div class="md-toc-link-wrapper" style="padding:0;;display:list-item;list-style:square;margin-left:18px">
          <a href="#四-ra6t2-vs-stm32g474-详细对比" class="md-toc-link">
            <p>四、RA6T2 vs STM32G474 详细对比</p>

          </a></div><div class="md-toc-link-wrapper" style="padding:0;;display:list-item;list-style:square;margin-left:18px">
          <a href="#五-ra6t2-coremark" class="md-toc-link">
            <p>五、RA6T2 coremark</p>

          </a></div><div class="md-toc-link-wrapper" style="padding:0;;display:list-item;list-style:square;margin-left:18px">
          <a href="#六-总结" class="md-toc-link">
            <p>六、总结</p>

          </a></div>
</div>
<h1 id="一-概述目的">一、概述/目的 </h1>
<ul>
<li>随着光伏、储能、电车、电力输送、机器人等应用普及，数字电源与伺服凸显重要性</li>
<li>简介RA6T2资料，数字电源与伺服需要mcu哪些特性</li>
<li>通过瑞萨RA6T2和STM32G4x4对比深刻理解mcu性能需求</li>
<li>通过RA6T2和STM32G4x4coremark深刻理解mcu性能影响</li>
<li>野火RA6T2目前只有几个例程，不利于初学者深入理解</li>
<li><strong>注意</strong>：数字电源与伺服包含了软硬件，并且是非常专业和深度的领域。本文只讨论数字电源与伺服的主控mcu特性需求，个人理解也比较有限，仅供交流讨论。</li>
</ul>
<h1 id="二-资料来源">二、资料来源 </h1>
<ul>
<li>
<p>ra6t2:<a href="https://www.renesas.cn/zh/products/ra6t2">https://www.renesas.cn/zh/products/ra6t2</a></p>
</li>
<li>
<p>stm32g4x4:<a href="https://www.st.com.cn/zh/microcontrollers-microprocessors/stm32g4x4.html">https://www.st.com.cn/zh/microcontrollers-microprocessors/stm32g4x4.html</a></p>
</li>
<li>
<p><a href="https://www.renesas.cn/zh/applications/industrial/renewable-energy-grid/digital-power-conversion-totem-pole-interleaved-pfc?queryID=21deff69bb9b08aab0e01949b0b24691">带图腾柱交错式 PFC 的数字电源</a></p>
</li>
<li>
<p><a href="https://www.renesas.cn/zh/applications/industrial/renewable-energy-grid/bidirectional-digital-power-system?queryID=21deff69bb9b08aab0e01949b0b24691">双向数字电源系统</a></p>
</li>
<li>
<p><a href="https://www.renesas.cn/zh/design-resources/boards-kits/cn028-bidirdpsevz?queryID=21deff69bb9b08aab0e01949b0b24691">CN028-BIDIRDPSEVZ双向数字电源评估套件</a></p>
</li>
<li>
<p><a href="https://www.renesas.cn/zh/products/microcontrollers-microprocessors/ra-cortex-m-mcus/ra-partners/x-ipm-3-phase-5kw-acdc?queryID=21deff69bb9b08aab0e01949b0b24691">南京芯干线 RA6T2 三相5KW ACDC无桥PFC数字电源</a></p>
</li>
<li>
<p><a href="https://www.renesas.cn/zh/applications/industrial/motor-drives/servo-motor-control-robot-limbs?queryID=03234a38d83c8babb11e3d062c620c2b">机器人四肢的伺服电机控制</a></p>
</li>
<li>
<p><a href="https://www.renesas.cn/zh/applications/industrial/motor-drives/mini-bldc-servo?queryID=03234a38d83c8babb11e3d062c620c2b">微型 BLDC 伺服器</a></p>
</li>
<li>
<p><a href="https://www.renesas.cn/zh/applications/industrial/motor-drives/ac-servo?queryID=03234a38d83c8babb11e3d062c620c2b">ETHERCAT交流伺服</a></p>
</li>
<li>
<p><a href="https://www.st.com/resource/zh/brochure/digital_power_guide.pdf">数字电源指南</a></p>
</li>
<li>
<p><a href="https://www.st.com.cn/zh/applications/industrial-motor-control/3-phase-field-oriented-control-foc.html">三相磁场定向控制 (FOC)</a></p>
</li>
<li>
<p><a href="https://www.st.com.cn/zh/evaluation-tools/stdes-3kwtlcp.html">STDES-3KWTLCP 3 kW电信整流器参考设计，基于STM32G474RBT6数字电源MCU</a></p>
</li>
<li>
<p><a href="https://www.st.com.cn/zh/evaluation-tools/steval-dpsg474.html">STEVAL-DPSG474 数字电源控制套件，基于STM32G474RE</a></p>
</li>
<li>
<p><a href="https://www.st.com.cn/zh/evaluation-tools/steval-ipfc01v1.html">STEVAL-IPFC01V1 基于STNRGPF01数字控制器的3 kW三通道交错式PFC</a></p>
</li>
<li>
<p><a href="https://www.st.com.cn/zh/applications/industrial-motor-control.html">工业电机控制</a></p>
</li>
</ul>
<p>瑞萨RA系列通用的功能可参加：</p>
<ul>
<li>
<p><a href="https://doc.embedfire.com/mcu/renesas/fsp_ra/zh/latest/index.html">[野火]瑞萨RA系列FSP库开发实战指南</a></p>
</li>
<li>
<p>公众号<a href="https://mp.weixin.qq.com/mp/appmsgalbum?__biz=MzkxNDQyMTU4Mg==&amp;action=getalbum&amp;album_id=2970862494649008129#wechat_redirect">从0开始卷出一个新项目之瑞萨RA6M5系列</a></p>
</li>
<li>
<p><a href="https://gitee.com/292812832/Renesas/blob/main/RA6M5/README.md">从0开始卷出一个新项目之瑞萨RA6M5 Gitee仓库</a></p>
</li>
</ul>
<p>野火RA6T2开发板：</p>
<ul>
<li><a href="https://doc.embedfire.com/products/link/zh/latest/mcu/renesas/ebf_ra_motor.htmlhttps://doc.embedfire.com/products/link/zh/latest/mcu/renesas/ebf_ra_motor.html">野火-瑞萨 启明电机系列开发板</a></li>
<li><a href="https://gitee.com/Embedfire/ebf_ra_motor_download_data/tree/main/2-%E8%A7%84%E6%A0%BC%E4%B9%A6_%E5%8E%9F%E7%90%86%E5%9B%BE_%E5%B0%81%E8%A3%85%E5%BA%93_%E5%B0%BA%E5%AF%B8%E5%9B%BE_IC%E6%89%8B%E5%86%8C/EBF_RA6T2">野火-瑞萨 启明电机 Gitee仓库</a></li>
</ul>
<h1 id="三-数字电源与伺服需要mcu哪些特性">三、数字电源与伺服需要mcu哪些特性 </h1>
<ul>
<li>
<p>高性能<br>
µs 级别时间范围内执行的电流控制环路计算，需要高主频、高速内存/cache</p>
</li>
<li>
<p>高精度PWM产生和关断<br>
ns级甚至ps级的PWM发波要求，同时要有关断功能，比如过流或者过压直接关死等</p>
</li>
<li>
<p>快速ADC采样<br>
ADC采样完成的越快越好，ADC精度12-16位；比较器；DAC；放大器</p>
</li>
<li>
<p>算法高效执行<br>
浮点FPU、三角函数加速TFU、ARM DPS库、其硬件加速IIR滤波/ART/以及数学运算加速器</p>
</li>
<li>
<p>丰富接口<br>
CANFD、USB、ethercat等；大容量flash/ram</p>
</li>
<li>
<p>解决方案<br>
软硬件解决方面，便与评估，加速开发</p>
</li>
</ul>
<p><img src="./images/RA6-blockdiagram_RA6T2_0.png" alt=""><br>
<img src="./images/stm32g474.png" alt=""></p>
<h1 id="四-ra6t2-vs-stm32g474-详细对比">四、RA6T2 vs STM32G474 详细对比 </h1>
<table>
<thead>
<tr>
<th>特性</th>
<th>瑞萨 RA6T2</th>
<th>STM32G474</th>
</tr>
</thead>
<tbody>
<tr>
<td><strong>内核</strong></td>
<td><strong>CM33 240MHz<br>cache</strong></td>
<td><strong>CM4 170MHz<br><br>cache</strong></td>
</tr>
<tr>
<td><strong>ADC</strong></td>
<td><strong>6.25 Msps<br>140ns<br>16-bit<br>156ps<br>DAC12<br>s/h×6<br>(PGA) × 4</strong></td>
<td><strong>4M samples/s<br>0.19μs<br>12/16位<br>184ps<br>DAC12 15M samples/s<br>比较器（17ns）<br>6 PGA</strong></td>
</tr>
<tr>
<td><strong>HRPWM</strong></td>
<td><strong>32-bit (GPT32) with High Resolution × 4<br>156 ps</strong></td>
<td><strong>6 x16-bit counters<br>184 ps resolution</strong></td>
</tr>
<tr>
<td><strong>硬件加速器</strong></td>
<td><strong>FPU<br>DSP指令<br>三角函数单元(TFU)<br>二阶滤波器(IIR)</strong></td>
<td><strong>FPU<br> DSP指令<br>CORDIC<br>ART Accelerator</strong></td>
</tr>
<tr>
<td><strong>模拟集成</strong></td>
<td><strong>PGA, 比较器, 12位DAC</strong></td>
<td><strong>运算放大器, 比较器, 12位DAC</strong></td>
</tr>
<tr>
<td>CoreMark</td>
<td>962</td>
<td>580</td>
</tr>
<tr>
<td>工作电压</td>
<td>2.7V to 3.6V</td>
<td>1.71V to 3.6V</td>
</tr>
<tr>
<td>Flash<br>RAM</td>
<td>512KB/64KB</td>
<td>512KB/128KB</td>
</tr>
<tr>
<td>通信接口</td>
<td>CAN-FD, USB, SPI, I2C, UART</td>
<td>CAN-FD, USB, SPI, I2C, UART，IIS，SAI</td>
</tr>
<tr>
<td>硬件保护</td>
<td>POEG、ECC、SCE5、ELC</td>
<td>RNG、CRC、CCM</td>
</tr>
<tr>
<td>工作温度</td>
<td>-40°C to 105°C</td>
<td>-40°C to 125°C</td>
</tr>
<tr>
<td>封装选项</td>
<td>LQFP-100, LQFP-64</td>
<td>LQFP-64, LQFP-48, QFN-32</td>
</tr>
<tr>
<td>开发环境</td>
<td>灵活配置软件包(FSP), Motor WorkBench GUI</td>
<td>STM32Cube生态系统, 数字电源固件库</td>
</tr>
<tr>
<td>Roadmap</td>
<td>RZT2H<br>RZT2M<br>RA8T2<br>RA6T2<br>RA4T1<br>RA2T1</td>
<td>STM32H7<br>STM32H5<br>STM32G4<br>STM32G0<br>STM32F3<br>STM32F1</td>
</tr>
</tbody>
</table>
<h1 id="五-ra6t2-coremark">五、RA6T2 coremark </h1>
<ul>
<li>RA6T2EEMBC Benchmark Score Viewer：<a href="https://www.eembc.org/viewer/?benchmark_seq=13480">https://www.eembc.org/viewer/?benchmark_seq=13480</a></li>
<li>STM32G4的内核性能：<a href="https://shequ.stmicroelectronics.cn/thread-632287-1-1.html">https://shequ.stmicroelectronics.cn/thread-632287-1-1.html</a></li>
</ul>
<table>
<thead>
<tr>
<th>特性</th>
<th>测试条件</th>
<th>coremark</th>
</tr>
</thead>
<tbody>
<tr>
<td>STM32G474</td>
<td>Flash运行关闭ART</td>
<td>169.6</td>
</tr>
<tr>
<td></td>
<td>Flash运行打开ART</td>
<td>547.1</td>
</tr>
<tr>
<td></td>
<td>SRAM运行关闭ART</td>
<td>420.5</td>
</tr>
<tr>
<td></td>
<td>CCM SRAM运行</td>
<td>580</td>
</tr>
<tr>
<td><strong>特性</strong></td>
<td><strong>测试条件</strong></td>
<td><strong>coremark</strong></td>
</tr>
<tr>
<td>RA6T2</td>
<td>gcc未开启cache</td>
<td>492</td>
</tr>
<tr>
<td></td>
<td>iar未开启cache</td>
<td>492</td>
</tr>
<tr>
<td></td>
<td>iar未开启cache</td>
<td>674</td>
</tr>
<tr>
<td></td>
<td>iar开启cache</td>
<td>976</td>
</tr>
</tbody>
</table>
<ul>
<li>gcc未开启cache：</li>
</ul>
<pre data-role="codeBlock" data-info="" class="language-text"><code>Toolchain ver:13.2.1 20231009
2K performance run parameters for coremark.
CoreMark Size    : 666
Total ticks      : 12188
Total time (secs): 12.188000
Iterations/Sec   : 492.287496
Iterations       : 6000
Compiler version : GCC13.2.1 20231009
Compiler flags   : Please put compiler flags here (e.g. -ofast)
Memory location  : STACK
seedcrc          : 0xe9f5
[0]crclist       : 0xe714
[0]crcmatrix     : 0x1fd7
[0]crcstate      : 0x8e3a
[0]crcfinal      : 0xa14c
Correct operation validated. See README.md for run and reporting rules.
CoreMark 1.0 : 492.287496 / GCC13.2.1 20231009 Please put compiler flags here (e.g. -ofast) / STACK
terminated coremain!
running!
</code></pre><ul>
<li>iar未开启cache：</li>
</ul>
<pre data-role="codeBlock" data-info="" class="language-text"><code>Toolchain ver:IAR ANSI C/C++ Compiler V9.50.1.380/W64 for ARM
2K performance run parameters for coremark.
CoreMark Size    : 666
Total ticks      : 11868
Total time (secs): 11.868000
Iterations/Sec   : 674.081564
Iterations       : 8000
Compiler version : Please put compiler version here (e.g. gcc 4.1)
Compiler flags   : Please put compiler flags here (e.g. -ofast)
Memory location  : STACK
seedcrc          : 0xe9f5
[0]crclist       : 0xe714
[0]crcmatrix     : 0x1fd7
[0]crcstate      : 0x8e3a
[0]crcfinal      : 0x5275
Correct operation validated. See README.md for run and reporting rules.
CoreMark 1.0 : 674.081564 / Please put compiler version here (e.g. gcc 4.1) Please put compiler flags here (e.g. -ofast) / STACK
terminated coremain!
running!
</code></pre><ul>
<li>iar开启cache：</li>
</ul>
<pre data-role="codeBlock" data-info="" class="language-text"><code>Toolchain ver:IAR ANSI C/C++ Compiler V9.50.1.380/W64 for ARM
2K performance run parameters for coremark.
CoreMark Size    : 666
Total ticks      : 10245
Total time (secs): 10.245000
Iterations/Sec   : 976.085896
Iterations       : 10000
Compiler version : Please put compiler version here (e.g. gcc 4.1)
Compiler flags   : Please put compiler flags here (e.g. -ofast)
Memory location  : STACK
seedcrc          : 0xe9f5
[0]crclist       : 0xe714
[0]crcmatrix     : 0x1fd7
[0]crcstate      : 0x8e3a
[0]crcfinal      : 0x988c
Correct operation validated. See README.md for run and reporting rules.
CoreMark 1.0 : 976.085896 / Please put compiler version here (e.g. gcc 4.1) Please put compiler flags here (e.g. -ofast) / STACK
terminated coremain!
running!
</code></pre><h1 id="六-总结">六、总结 </h1>
<ul>
<li>CM33、Cache、高主频、FPU、TFU、DSP、IIR、ELC、ECC、HRPWM、12-16ADC、PGA、DAC等资源/特性，共同决定了RA6T2适用于中端电机和数字电源使用</li>
<li>本文通过RA6T2 vs STM32G474资源对比、coremark分析，尝试深入理解。</li>
</ul>

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